cyclonedds_pc.xml

<!-- This is a merge from the example cofiguration from Create 3 and Turtlebot 4 docs -->
<CycloneDDS>
    <Domain>
        <Id>any</Id>
        <General>
            <NetworkInterfaceAddress>auto</NetworkInterfaceAddress>
            <AllowMulticast>false</AllowMulticast>
            <EnableMulticastLoopback>true</EnableMulticastLoopback>
            <DontRoute>true</DontRoute>            <!-- Only necessary part from Turtlebot 4 docs-->
        </General>
        <Internal>
            <MinimumSocketReceiveBufferSize>10MB</MinimumSocketReceiveBufferSize>            <!-- From ros2 docs-->
        </Internal>
        <Discovery>
            <ParticipantIndex>0</ParticipantIndex>
            <Peers>
                <Peer Address="$192.168.178.40:7410"/>
                <Peer Address="$192.168.178.30:7410"/>
                <!-- <Peer Address="$192.168.178.41:7410"/>
                <Peer Address="$192.168.178.31:7410"/>                
                <Peer Address="$192.168.178.42:7410"/>
                <Peer Address="$192.168.178.32:7410"/ -->
            </Peers>
        </Discovery>
    </Domain>
</CycloneDDS>